Wide Range Global Path Planning for a Large Number of Networked Mobile Robots based on Generalized Voronoi Diagrams

This work aims to solving global path planning for multiple mobile robots. In order to get a collision free path, an accurate map model is always essential. A roadmap is made based on the generalized voronoi diagram (GVD), which is created with a new proposed voronoi based parallel thinning (VPT) algorithm. Based on the GVD roadmap, a new multiple mobile robot path planning algorithm, electric circuit based path planning (ECPP), is proposed. ECPP is applicable for large number of mobile robots global path planning in large space, it can efficiently avoid the possibilities of traffic jams, so that the whole multi-robot system can work properly.